This is the same example as
HBridge_RL but using a triangle (instead of a sawtooth) as pwm
reference signal. This enables an easy sampling of the current in
the middle of the pwm period, which delivers with good
approximation the mean current: Compare meanCurrent.y
and zeroOrderHold.y. For discrete or quasi-continuous
control it is essential to sample the correct mean current with low
effort once during the pwm period.